// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.

#ifndef K4A_ROS_BRIDGE_NODELET_H
#define K4A_ROS_BRIDGE_NODELET_H

// System headers
//

// Library headers
//
#include <ros/ros.h>
#include <nodelet/nodelet.h>

// Project headers
//
#include "azure_kinect_ros_driver/k4a_ros_device.h"

namespace Azure_Kinect_ROS_Driver
{
    class K4AROSBridgeNodelet : public nodelet::Nodelet
    {
    public:

        K4AROSBridgeNodelet();
        ~K4AROSBridgeNodelet();

        virtual void onInit();

    private:

        std::unique_ptr<K4AROSDevice> k4a_device;
    };
}

#endif // K4A_ROS_BRIDGE_NODELET_H